Non-linear adaptive control for robotic manipulators with continuous control inputs

摘要

Abstract The problems of constructing non-linear adaptive control systems for robotic manipulators are considered. It is shown that quality dynamic performance can be achieved without exact knowledge of the non-linear terms of robotic manipulators. The control scheme is constructed with at most seven control parameters to be adjusted adaptively, and that number is determined independent of the number of degrees of freedom of the manipulator. In contrast to the VSS approach, continuous control inputs are used instead of discontinuous ones, and the control gains are not fixed but determined automatically. Some simulation results show the effectiveness and simplicity of the proposed method.